Robust implicit self-tuning regulator: Convergence and stability (Q675266)

A family of implicit self-tuning regulators (STR) is developed for the control of a class of MIMO systems, the dynamics of which can be described by the discrete-time Brunovsky canonical form. The STR is incorporated into an adaptive scheme; the on-line tuning algorithms include a modification of the adaptation gain and a correction term to the standard gradient-based tuning. The tuning procedure makes the STR state strict passive, so that bounded parameter estimates and tracking performance are guaranteed even if the persistency-of-excitation condition is not fulfilled.